EP2980665A3 - Scalable motion control system - Google Patents

Scalable motion control system Download PDF

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Publication number
EP2980665A3
EP2980665A3 EP15182425.7A EP15182425A EP2980665A3 EP 2980665 A3 EP2980665 A3 EP 2980665A3 EP 15182425 A EP15182425 A EP 15182425A EP 2980665 A3 EP2980665 A3 EP 2980665A3
Authority
EP
European Patent Office
Prior art keywords
cluster
controllers
master controller
remote controllers
control system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP15182425.7A
Other languages
German (de)
French (fr)
Other versions
EP2980665A2 (en
Inventor
Martin Hosek
Stuart Beale
Roumen Botev
Matthew Coady
Christopher Hofmeiser
Mark Ives
Robert T. Caveney
Jairo Moura
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Brooks Automation US LLC
Original Assignee
Brooks Automation Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Brooks Automation Inc filed Critical Brooks Automation Inc
Publication of EP2980665A2 publication Critical patent/EP2980665A2/en
Publication of EP2980665A3 publication Critical patent/EP2980665A3/en
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the network communication
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4148—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using several processors for different functions, distributed (real-time) systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31207—Master sends global files to autonomous controllers, feedback of process status
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33277—Distributed system with host as leader, host with multiple of agents
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

A control system (100) for complex non linear machines including a clustered architecture comprising:
- a master controller (105), one or more cluster controllers (110) each defining a cluster, remote controllers (115, 150) and end effectors,
- a central control section including one or more first remote controllers, said first remote controllers being autonomous remote controllers (150) under direct control of the master controller and
- a distributed control section including said cluster controller (110) controlled by the master controller (105), wherein each of said cluster controllers controls the activities of one or more second remote controllers (115) in said cluster, each of the first and second remote controllers being utilized to drive one or more axes of end effectors of complex multi axis non linear machines,
wherein the master controller includes a processor configured to generate trajectories, run control algorithms and provide torque commands for implementation by the autonomous remote controller (150);
and wherein said master controller and at least said one or more cluster controllers are connected together to a communication network (120) of said control system and defines nodes of said network.
Figure imgaf001
EP15182425.7A 2005-06-08 2006-06-05 Scalable motion control system Ceased EP2980665A3 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US68863605P 2005-06-08 2005-06-08
US11/178,615 US7904182B2 (en) 2005-06-08 2005-07-11 Scalable motion control system
EP12158816.4A EP2610694A3 (en) 2005-06-08 2006-06-05 Scalable motion control system
EP06760684A EP1913450A4 (en) 2005-06-08 2006-06-05 Scalable motion control system

Related Parent Applications (2)

Application Number Title Priority Date Filing Date
EP12158816.4A Division EP2610694A3 (en) 2005-06-08 2006-06-05 Scalable motion control system
EP06760684A Division EP1913450A4 (en) 2005-06-08 2006-06-05 Scalable motion control system

Publications (2)

Publication Number Publication Date
EP2980665A2 EP2980665A2 (en) 2016-02-03
EP2980665A3 true EP2980665A3 (en) 2016-04-20

Family

ID=37499003

Family Applications (3)

Application Number Title Priority Date Filing Date
EP12158816.4A Ceased EP2610694A3 (en) 2005-06-08 2006-06-05 Scalable motion control system
EP15182425.7A Ceased EP2980665A3 (en) 2005-06-08 2006-06-05 Scalable motion control system
EP06760684A Ceased EP1913450A4 (en) 2005-06-08 2006-06-05 Scalable motion control system

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP12158816.4A Ceased EP2610694A3 (en) 2005-06-08 2006-06-05 Scalable motion control system

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP06760684A Ceased EP1913450A4 (en) 2005-06-08 2006-06-05 Scalable motion control system

Country Status (7)

Country Link
US (4) US7904182B2 (en)
EP (3) EP2610694A3 (en)
JP (1) JP5026413B2 (en)
KR (1) KR101359541B1 (en)
CN (1) CN101297249B (en)
TW (1) TWI447542B (en)
WO (1) WO2006133096A2 (en)

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